ETS-VIIを用いた宇宙ロボット制御実験

概要

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This paper presents the flight experiments on the dynamics and control of a space robotic arm mounted on ETS-VII (Engineering Test Satellite VII). The experiments were successfully carried out to evaluate the performance of (1) reaction null-space based reactionless manipulation, (2) generalized Jacobian based inertial manipulation, (3) offset command based feedforward attitude control, and (4) bi-directional approach of non-holonomic path planning. Inertia parameters of ETS-VII is identified based on the momentum equation and the effect of gravity gradient torque is also evaluated.
社団法人日本航空宇宙学会の論文
2002-09-05